version: 66.04
glider: 126
mission: 10
dive: 11
start: 2 16 109 6 3 35
data:
$ID,126
$MISSION,10
$DIVE,11
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,100
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,360
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-11
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0274
$MASS,52104
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0019
$HD_B,0.0147
$HD_C,2.9700001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-633818.06
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,94
$PITCH_MAX,4004
$C_PITCH,2986
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,291
$ROLL_MAX,3944
$ROLL_DEG,40
$C_ROLL_DIVE,2541
$C_ROLL_CLIMB,2541
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,539
$VBD_MAX,3901
$C_VBD,2909
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,480
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-31.815109
$PRESSURE_SLOPE,0.000116483
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,450
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,53
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,1
$SMARTDEVICE1,38
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043561817
$SEABIRD_T_H,0.00064469897
$SEABIRD_T_I,2.5245408e-05
$SEABIRD_T_J,2.6212149e-06
$SEABIRD_C_G,-10.205203
$SEABIRD_C_H,1.1700729
$SEABIRD_C_I,-0.0038474144
$SEABIRD_C_J,0.00031547638
$GPS1,055431,1129.616,12148.261,37,1.6,37,-0.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-73.8
$GPS2,060250,1129.556,12148.230,15,1.4,15,-0.6
$SPEED_LIMITS,0.159,0.169
$TGT_NAME,BATBATAN_SW
$TGT_LATLONG,1126.310,12150.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,168.3,6816,-19.2,-9.167
$D_GRID,763
$AD_RECORDABOVE,200.0
$AD_PROFILE,1.0
$AD_OFFLOAD,1.0
$AD_MAXUPLOADSIZE,15000.0
$AD_UPLOADALLCONFIG,0.0
$AD_ERRORS,0.0
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.40,-122.8,0.0,0.0,0,68,0.00,0.00,-44.80,0.000,2,0.000,0.000,83,2544,2758
$GC,72,-1.44,-146.0,3.4,-7.1,7,101,9.95,2.20,-13.75,0.000,4,0.242,0.061,2667,1134,3508
$GC,348,-1.11,-146.0,66.5,-22.6,55,355,0.30,2.15,0.00,0.000,6,0.169,0.047,2747,2557,3511
$GC,690,-1.17,-146.0,116.3,-12.5,116,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2557,3512
$GC,1037,-1.39,-146.0,150.7,-8.6,177,1043,0.20,2.12,0.00,0.000,4,0.064,0.048,2654,1130,3514
$GC,1163,-1.32,-146.0,166.4,-12.8,199,1170,0.20,2.15,0.00,0.000,6,0.160,0.048,2701,2564,3514
$GC,1508,-1.42,-146.0,200.0,-9.6,260,1519,0.10,2.10,0.00,0.000,4,0.087,0.060,2654,3933,3514
$GC,1583,-1.37,-146.0,209.0,-12.6,272,1591,0.12,2.03,0.00,0.000,6,0.158,0.038,2688,2551,3514
$GC,1932,-1.46,-146.0,246.1,-10.5,333,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2551,3513
$GC,2266,-1.55,-146.0,278.2,-8.8,367,2270,0.15,2.10,0.00,0.000,4,0.075,0.048,2622,1127,3512
$GC,2294,-1.49,-146.0,281.4,-11.5,369,2301,0.17,2.15,0.00,0.000,6,0.163,0.049,2664,2562,3512
$GC,2619,-1.49,-146.0,313.6,-10.0,400,2620,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2562,3511
$GC,2938,-1.49,-146.0,346.9,-11.0,430,2941,0.00,2.12,0.00,0.000,4,0.000,0.049,2665,1129,3509
$GC,2972,-1.49,-146.0,350.7,-11.2,433,2976,0.00,2.12,0.00,0.000,6,0.000,0.049,2656,2548,3509
$GC,3305,-1.49,-146.0,387.4,-10.2,464,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2548,3507
$GC,3623,-1.49,-146.0,419.3,-9.6,494,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2548,3505
$GC,3941,-1.49,-146.0,451.2,-10.6,524,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2548,3503
$GC,4259,-1.49,-146.0,485.2,-10.8,554,4263,0.00,2.10,0.00,0.000,4,0.000,0.064,2645,3934,3501
$GC,4327,-1.49,-146.0,493.2,-11.6,560,4331,0.00,2.03,0.00,0.000,6,0.000,0.041,2649,2537,3500
$GC,4662,-1.49,-146.0,527.5,-9.5,579,4666,0.00,2.08,0.00,0.000,4,0.000,0.053,2649,1144,3498
$GC,4708,-1.49,-146.0,532.5,-10.5,581,4712,0.00,2.12,0.00,0.000,6,0.000,0.052,2641,2555,3498
$GC,5041,-1.49,-146.0,568.2,-10.7,597,5042,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2555,3496
$GC,5351,-1.49,-146.0,600.6,-10.7,612,5355,0.00,2.10,0.00,0.000,4,0.000,0.065,2630,3934,3494
$GC,5424,-1.45,-146.0,608.8,-11.2,615,5429,0.15,2.03,0.00,0.000,6,0.156,0.043,2674,2545,3494
$GC,5753,-1.55,-146.0,637.9,-9.1,631,5755,0.10,0.00,0.00,0.000,6,0.091,0.000,2628,2545,3493
$GC,6059,-1.55,-146.0,670.1,-10.5,646,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2545,3491
$GC,6370,-1.55,-146.0,703.7,-10.9,661,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2545,3491
$GC,6678,-1.55,-146.0,737.1,-11.0,676,6679,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2545,3489
$STATE,6922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6923,begin apogee
$GC,6929,-0.31,0.0,763.9,10.5,688,7057,0.90,0.00,119.85,1.166,6,0.144,0.000,2922,2545,2909
$STATE,7058,end apogee,CONTROL_FINISHED_OK
$STATE,7058,begin climb
$GC,7061,1.44,146.0,767.2,0.0,694,7183,1.05,0.00,117.82,1.190,6,0.067,0.000,3306,2544,2312
$GC,7480,1.16,146.0,720.7,14.3,715,7482,0.25,0.00,0.00,0.000,6,0.189,0.000,3239,2544,2309
$GC,7788,1.07,146.0,685.4,10.8,730,7791,0.00,2.20,0.00,0.000,4,0.000,0.067,3237,3947,2308
$GC,7834,0.88,146.0,679.9,12.1,732,7838,0.25,2.10,0.00,0.000,6,0.176,0.044,3176,2545,2307
$GC,8161,0.97,158.9,652.1,8.4,748,8179,0.00,0.00,12.25,0.954,6,0.000,0.000,3176,2546,2261
$GC,8489,1.07,171.0,624.5,8.4,764,8513,0.15,0.00,15.68,0.861,6,0.084,0.000,3234,2545,2211
$GC,8818,1.01,171.0,589.5,10.4,780,8820,0.12,0.00,0.00,0.000,6,0.178,0.000,3202,2545,2211
$GC,9127,1.01,171.0,559.3,10.1,795,9131,0.00,2.17,0.00,0.000,4,0.000,0.068,3202,3941,2212
$GC,9223,0.93,171.0,548.5,11.2,799,9227,0.10,2.08,0.00,0.000,6,0.186,0.045,3187,2548,2211
$GC,9549,1.01,171.0,517.6,9.7,815,9553,0.00,2.15,0.00,0.000,4,0.000,0.056,3196,1126,2211
$GC,9606,1.09,171.0,512.0,9.9,817,9610,0.10,2.15,0.00,0.000,6,0.094,0.055,3238,2532,2211
$GC,9935,1.03,171.0,474.8,11.1,843,9937,0.12,0.00,0.00,0.000,6,0.175,0.000,3206,2532,2210
$GC,10255,1.03,171.0,444.4,9.3,873,10259,0.00,2.17,0.00,0.000,4,0.000,0.069,3206,3944,2210
$GC,10339,0.97,171.0,434.9,11.5,880,10347,0.00,2.08,0.00,0.000,6,0.000,0.045,3214,2547,2210
$GC,10667,0.97,171.0,403.5,10.3,911,10668,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2547,2210
$GC,10983,0.97,171.0,371.9,10.2,941,10986,0.00,2.15,0.00,0.000,4,0.000,0.069,3215,3934,2210
$GC,11062,0.90,171.0,363.1,11.1,948,11067,0.17,2.05,0.00,0.000,6,0.173,0.044,3177,2546,2210
$GC,11393,1.07,191.8,334.8,7.9,979,11437,0.15,2.25,29.50,0.794,4,0.083,0.057,3249,1126,2121
$GC,11454,1.07,191.8,328.9,10.0,984,11462,0.10,2.25,0.00,0.000,6,0.177,0.055,3220,2568,2115
$GC,11779,1.07,191.8,297.1,9.8,1015,11783,0.00,2.15,0.00,0.000,4,0.000,0.068,3220,3948,2112
$GC,11813,1.07,191.8,293.5,11.7,1018,11817,0.00,2.05,0.00,0.000,6,0.000,0.044,3229,2574,2112
$GC,12143,1.07,191.8,260.6,10.3,1049,12145,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2574,2112
$GC,12475,1.13,195.1,227.6,9.0,1099,12480,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2574,2112
$GC,12818,1.21,202.7,198.2,8.7,1160,12833,0.00,0.00,12.20,0.731,6,0.000,0.000,3228,2574,2081
$GC,13172,1.35,216.6,168.6,8.3,1222,13197,0.17,0.00,14.70,0.720,6,0.074,0.000,3303,2574,2021
$GC,13537,1.37,223.3,129.9,8.8,1286,13550,0.00,2.20,6.70,0.625,4,0.000,0.053,3314,1125,1994
$GC,13636,1.37,223.5,121.3,9.2,1303,13643,0.12,2.22,0.00,0.000,6,0.170,0.053,3281,2577,1988
$GC,13983,1.62,288.5,99.4,5.2,1364,14042,0.17,2.22,53.65,0.709,4,0.073,0.064,3354,3941,1731
$GC,14150,1.54,288.5,82.7,9.7,1392,14159,0.17,2.08,0.00,0.000,6,0.173,0.041,3318,2557,1728
$GC,14498,1.69,299.0,53.3,8.5,1453,14517,0.12,2.17,11.98,0.611,4,0.080,0.063,3372,3945,1683
$GC,14653,1.58,299.0,35.6,10.5,1480,14661,0.20,2.05,0.00,0.000,6,0.170,0.040,3328,2555,1675
$GC,15002,1.76,325.3,8.5,7.5,1541,15021,0.12,2.17,11.12,0.645,4,0.080,0.061,3383,3950,1582
$GC,15040,1.71,325.3,4.5,10.7,1547,15047,0.15,2.03,0.00,0.000,6,0.179,0.039,3355,2577,1583
$STATE,15062,end climb,SURFACE_DEPTH_REACHED
$STATE,15062,begin surface coast
$FINISH,0.2,1.021597
$STATE,15080,end surface coast,CONTROL_FINISHED_OK
$STATE,15080,begin surface
$SM_CCo,15100,23.45,0.663,0,0,1379,375.06
$SM_GC,1.33,0.00,0.00,23.45,0.000,0.000,0.663,89,2575,1379,-13.33,0.99,375.06
$IRIDIUM_FIX,1123.86,12146.10,130598,020200
$TT8_MAMPS,0.025311
$HUMID,1746
$INTERNAL_PRESSURE,9.72694
$TCM_TEMP,23.50
$XPDR_PINGS,1
$AD_FAT00,a0011,0x00007000,0x00008100,0x00001100
$24V_AH,24.0,4.192
$10V_AH,10.7,2.647
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,24.850,80.850,405.450,23.450,0.000,25.313,34.224,269.390,3.500,0.000,0.000,15.624,2626.330,9138.631,559.247,2613.629,704.950,0.000,1759.774,0.000,2584.229,0.000,27.740,0.000
$DEVICE_MAMPS,241.605,69.030,1190.384,663.455,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,AQUADOPP,nil
$SENSOR_SECS,1067.805,717.312,668.201,0.000,0.000,0.000,2119.424,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,71.000,0.000
$DATA_FILE_SIZE,88420,1554
$CAP_FILE_SIZE,147561,0
$CFSIZE,260165632,253562880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.052, 93.0,1
$GPS,160209,101700,1127.430,12149.316,41,1.1,41,-0.6